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print warning if event callback is not supported instead of passing e… #2648

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merged 1 commit into from
Oct 9, 2024
Merged

print warning if event callback is not supported instead of passing e… #2648

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52 changes: 36 additions & 16 deletions rclcpp/src/rclcpp/publisher_base.cpp
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -135,15 +135,28 @@ void
PublisherBase::bind_event_callbacks(
const PublisherEventCallbacks & event_callbacks, bool use_default_callbacks)
{
if (event_callbacks.deadline_callback) {
this->add_event_handler(
event_callbacks.deadline_callback,
RCL_PUBLISHER_OFFERED_DEADLINE_MISSED);
try {
if (event_callbacks.deadline_callback) {
this->add_event_handler(
event_callbacks.deadline_callback,
RCL_PUBLISHER_OFFERED_DEADLINE_MISSED);
}
} catch (const UnsupportedEventTypeException & /*exc*/) {
RCLCPP_WARN(
rclcpp::get_logger("rclcpp"),
"Failed to add event handler for deadline; not supported");
}
if (event_callbacks.liveliness_callback) {
this->add_event_handler(
event_callbacks.liveliness_callback,
RCL_PUBLISHER_LIVELINESS_LOST);

try {
if (event_callbacks.liveliness_callback) {
this->add_event_handler(
event_callbacks.liveliness_callback,
RCL_PUBLISHER_LIVELINESS_LOST);
}
} catch (const UnsupportedEventTypeException & /*exc*/) {
RCLCPP_WARN(
rclcpp::get_logger("rclcpp"),
"Failed to add event handler for liveliness; not supported");
}

QOSOfferedIncompatibleQoSCallbackType incompatible_qos_cb;
Expand All @@ -160,9 +173,9 @@ PublisherBase::bind_event_callbacks(
this->add_event_handler(incompatible_qos_cb, RCL_PUBLISHER_OFFERED_INCOMPATIBLE_QOS);
}
} catch (const UnsupportedEventTypeException & /*exc*/) {
RCLCPP_DEBUG(
RCLCPP_WARN(
rclcpp::get_logger("rclcpp"),
"Failed to add event handler for incompatible qos; wrong callback type");
"Failed to add event handler for incompatible qos; not supported");
Comment on lines -163 to +178
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I think warning is more appropriate here, this is more visible for user that the callback type is not supported with this rmw implementation. besides, message is wrong, that is just not supported.

}

IncompatibleTypeCallbackType incompatible_type_cb;
Expand All @@ -179,14 +192,21 @@ PublisherBase::bind_event_callbacks(
this->add_event_handler(incompatible_type_cb, RCL_PUBLISHER_INCOMPATIBLE_TYPE);
}
} catch (UnsupportedEventTypeException & /*exc*/) {
RCLCPP_DEBUG(
RCLCPP_WARN(
rclcpp::get_logger("rclcpp"),
"Failed to add event handler for incompatible type; wrong callback type");
"Failed to add event handler for incompatible type; not supported");
}
if (event_callbacks.matched_callback) {
this->add_event_handler(
event_callbacks.matched_callback,
RCL_PUBLISHER_MATCHED);

try {
if (event_callbacks.matched_callback) {
this->add_event_handler(
event_callbacks.matched_callback,
RCL_PUBLISHER_MATCHED);
}
} catch (const UnsupportedEventTypeException & /*exc*/) {
RCLCPP_WARN(
rclcpp::get_logger("rclcpp"),
"Failed to add event handler for matched; not supported");
}
}

Expand Down
65 changes: 47 additions & 18 deletions rclcpp/src/rclcpp/subscription_base.cpp
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -112,16 +112,28 @@ void
SubscriptionBase::bind_event_callbacks(
const SubscriptionEventCallbacks & event_callbacks, bool use_default_callbacks)
{
if (event_callbacks.deadline_callback) {
this->add_event_handler(
event_callbacks.deadline_callback,
RCL_SUBSCRIPTION_REQUESTED_DEADLINE_MISSED);
try {
if (event_callbacks.deadline_callback) {
this->add_event_handler(
event_callbacks.deadline_callback,
RCL_SUBSCRIPTION_REQUESTED_DEADLINE_MISSED);
}
} catch (const UnsupportedEventTypeException & /*exc*/) {
RCLCPP_WARN(
rclcpp::get_logger("rclcpp"),
"Failed to add event handler for deadline; not supported");
}

if (event_callbacks.liveliness_callback) {
this->add_event_handler(
event_callbacks.liveliness_callback,
RCL_SUBSCRIPTION_LIVELINESS_CHANGED);
try {
if (event_callbacks.liveliness_callback) {
this->add_event_handler(
event_callbacks.liveliness_callback,
RCL_SUBSCRIPTION_LIVELINESS_CHANGED);
}
} catch (const UnsupportedEventTypeException & /*exc*/) {
RCLCPP_WARN(
rclcpp::get_logger("rclcpp"),
"Failed to add event handler for liveliness; not supported");
}

QOSRequestedIncompatibleQoSCallbackType incompatible_qos_cb;
Expand All @@ -139,7 +151,9 @@ SubscriptionBase::bind_event_callbacks(
this->add_event_handler(incompatible_qos_cb, RCL_SUBSCRIPTION_REQUESTED_INCOMPATIBLE_QOS);
}
} catch (const UnsupportedEventTypeException & /*exc*/) {
// pass
RCLCPP_WARN(
rclcpp::get_logger("rclcpp"),
"Failed to add event handler for incompatible qos; not supported");
}

IncompatibleTypeCallbackType incompatible_type_cb;
Expand All @@ -156,18 +170,33 @@ SubscriptionBase::bind_event_callbacks(
this->add_event_handler(incompatible_type_cb, RCL_SUBSCRIPTION_INCOMPATIBLE_TYPE);
}
} catch (UnsupportedEventTypeException & /*exc*/) {
// pass
RCLCPP_WARN(
rclcpp::get_logger("rclcpp"),
"Failed to add event handler for incompatible type; not supported");
}

if (event_callbacks.message_lost_callback) {
this->add_event_handler(
event_callbacks.message_lost_callback,
RCL_SUBSCRIPTION_MESSAGE_LOST);
try {
if (event_callbacks.message_lost_callback) {
this->add_event_handler(
event_callbacks.message_lost_callback,
RCL_SUBSCRIPTION_MESSAGE_LOST);
}
} catch (const UnsupportedEventTypeException & /*exc*/) {
RCLCPP_WARN(
rclcpp::get_logger("rclcpp"),
"Failed to add event handler for message lost; not supported");
}
if (event_callbacks.matched_callback) {
this->add_event_handler(
event_callbacks.matched_callback,
RCL_SUBSCRIPTION_MATCHED);

try {
if (event_callbacks.matched_callback) {
this->add_event_handler(
event_callbacks.matched_callback,
RCL_SUBSCRIPTION_MATCHED);
}
} catch (const UnsupportedEventTypeException & /*exc*/) {
RCLCPP_WARN(
rclcpp::get_logger("rclcpp"),
"Failed to add event handler for matched; not supported");
}
}

Expand Down